Command for underground

ABSTRACT

A MAS for a machine that includes an implement, and a related method of controlling such machine is provided. The MAS may comprise a plurality of Vehicle ECMs, a local transceiver, an Ethernet LAN, a first CAN, an AECM, an environment monitoring system and an RSM. The AECM is configured to generate output control signals based, at least in part, on input from the environment monitoring system, and to transmit the output control signals to at least one of the Vehicle ECMs, wherein the output control signals control an operation of the machine. The MAS is configured to execute semi-autonomous functions of the machine based on input from the environment monitoring system.

TECHNICAL FIELD

The present disclosure relates generally to remote control of a machineand, more particularly, relates to a remote operation of machines usedin mining, earth moving, or the like.

BACKGROUND

Many machines used in the earth-moving, construction, mining, andagricultural industries operate in challenging environments. Forexample, some mining machines operate in underground mines where theenvironment may be more challenging due to low tunnel clearances andground stability concerns surrounding the immediate area. In recentefforts to improve safety at such worksite environments, trends havebeen to reduce the number of on-site operators at these worksites byimplementing machines that are remotely controlled from a remoteoperator station (ROS).

For machines employed at the physical worksite, the ROS may bepositioned remote from the machine at a safer location at or near theworksite or may be away from the worksite. For example, the ROS may bepositioned indoors in an office environment.

U.S. Pat. No. 8,571,765 (the '765 patent) discloses systems and methodsfor defining a path for a bucket-based emptying operation for automaticcontrol of a mobile mining machine. The systems and methods of the '765patent provide for path planning when a machine is controlledautonomously. While beneficial, a better control system is needed.

SUMMARY

In accordance with an aspect of the disclosure, a machine automationsystem (MAS) for a machine that includes an implement is provided. TheMAS may comprise a plurality of vehicle electronic control modules(ECMs) disposed on the machine, a local transceiver disposed on themachine and configured to receive input control signals from off-boardthe machine, an Ethernet LAN disposed on the machine, a controller areanetwork (CAN) disposed on the machine, an automation electronic controlmodule (AECM), and an environment monitoring system. In an embodiment,the local transceiver is a wireless radio. In an embodiment, theEthernet LAN may be configured to enable operative communication betweenthe AECM, at least some of the Vehicle ECMs, the environment monitoringsystem and the local transceiver. The Ethernet LAN may include aplurality of communication channels configured to transfer data betweentwo points, a local router disposed on the machine and in operablecommunication with the local transceiver, a first switch, and a secondswitch. The local router may be in operable communication with the AECMand the environment monitoring system via the first switch. The localrouter may be in operable communication with at least one Vehicle ECMvia the second switch. The local router may be configured to receive andtransmit the input control signals from the local transceiver to theAECM. The first switch may be in operable communication with the AECMand the environment monitoring system. The second switch may be inoperable communication with at least one vehicle ECM. In an embodiment,the environment monitoring system may include a plurality of internetprotocol (IP) cameras and a plurality of LADARs disposed on the machine,the IP cameras configured to transmit video data to the localtransceiver via the first switch, the LADARs configured to transmitpositioning data associated with the machine to the AECM via the firstswitch. The AECM is disposed on the machine. The AECM and at least oneof the vehicle ECMs are in operative communication via the first CAN.The AECM is configured to receive one or both of the input controlsignals from the local router and the positioning data from theenvironment monitoring system, via the first switch, generate outputcontrol signals based on one or both of the input control signals andthe positioning data, and transmit the output control signals to atleast one of the Vehicle ECMs, wherein the output control signalscontrol an operation of the machine. In an embodiment, the first switchmay include a plurality of Ethernet input ports, each of the pluralityof Ethernet input ports assigned to one of the plurality of IP cameras,one of the plurality of LADARs, the AECM, or the local router.

In accordance with another aspect of the disclosure, a machine isdisclosed. The machine may include a body frame, an engine disposed onthe body frame, an implement, a cab, and a MAS. The MAS may include aplurality of vehicle electronic control modules (ECMs) disposed on themachine, a local transceiver disposed on the machine and configured toreceive input control signals from off-board the machine, an EthernetLAN disposed on the machine, a controller area network (CAN) disposed onthe machine, an automation electronic control module (AECM), and anenvironment monitoring system. In an embodiment, the local transceiveris a wireless radio. In an embodiment, the Ethernet LAN may beconfigured to enable operative communication between the AECM, at leastsome of the Vehicle ECMs, the environment monitoring system and thelocal transceiver. The Ethernet LAN may include a plurality ofcommunication channels configured to transfer data between two points, alocal router disposed on the machine and in operable communication withthe local transceiver, a first switch, and a second switch. The localrouter may be in operable communication with the AECM and theenvironment monitoring system via the first switch. The local router maybe in operable communication with at least one Vehicle ECM via thesecond switch. The local router may be configured to receive andtransmit the input control signals from the local transceiver to theAECM. The first switch may be in operable communication with the AECMand the environment monitoring system. The second switch may be inoperable communication with at least one vehicle ECM. In an embodiment,the environment monitoring system may include a plurality of internetprotocol (IP) cameras and a plurality of LADARs disposed on the machine,the IP cameras configured to transmit video data to the localtransceiver via the first switch, the LADARs configured to transmitpositioning data associated with the machine to the AECM via the firstswitch. The AECM is disposed on the machine. The AECM and at least oneof the vehicle ECMs are in operative communication via the first CAN.The AECM is configured to receive one or both of the input controlsignals from the local router and the positioning data from theenvironment monitoring system, via the first switch, generate outputcontrol signals based on one or both of the input control signals andthe positioning data, and transmit the output control signals to atleast one of the Vehicle ECMs, wherein the output control signalscontrol an operation of the machine. In an embodiment, the first switchmay include a plurality of Ethernet input ports, each of the pluralityof Ethernet input ports assigned to one of the plurality of IP cameras,one of the plurality of LADARs, the AECM, or the local router.

In accordance with yet another aspect of the disclosure, a controlsystem for a machine that includes an implement is disclosed. Thecontrol system may comprise a MAS and an off-board system. The MAS mayinclude a plurality of vehicle electronic control modules (ECMs)disposed on the machine, a local transceiver disposed on the machine andconfigured to receive input control signals from off-board the machine,an Ethernet LAN disposed on the machine, a controller area network (CAN)disposed on the machine, an automation electronic control module (AECM),and an environment monitoring system. In an embodiment, the localtransceiver is a wireless radio. In an embodiment, the Ethernet LAN maybe configured to enable operative communication between the AECM, atleast some of the Vehicle ECMs, the environment monitoring system andthe local transceiver. The Ethernet LAN may include a plurality ofcommunication channels configured to transfer data between two points, alocal router disposed on the machine and in operable communication withthe local transceiver, a first switch, and a second switch. The localrouter may be in operable communication with the AECM and theenvironment monitoring system via the first switch. The local router maybe in operable communication with at least one Vehicle ECM via thesecond switch. The local router may be configured to receive andtransmit the input control signals from the local transceiver to theAECM. The first switch may be in operable communication with the AECMand the environment monitoring system. The second switch may be inoperable communication with at least one vehicle ECM. In an embodiment,the environment monitoring system may include a plurality of internetprotocol (IP) cameras and a plurality of LADARs disposed on the machine,the IP cameras configured to transmit video data to the localtransceiver via the first switch, the LADARs configured to transmitpositioning data associated with the machine to the AECM via the firstswitch. The AECM is disposed on the machine. The AECM and at least oneof the vehicle ECMs are in operative communication via the first CAN.The AECM is configured to receive one or both of the input controlsignals from the local router and the positioning data from theenvironment monitoring system, via the first switch, generate outputcontrol signals based on one or both of the input control signals andthe positioning data, and transmit the output control signals to atleast one of the Vehicle ECMs, wherein the output control signalscontrol an operation of the machine. In an embodiment, the first switchmay include a plurality of Ethernet input ports, each of the pluralityof Ethernet input ports assigned to one of the plurality of IP cameras,one of the plurality of LADARs, the AECM, or the local router. The offboard system may include a first and a second input device locatedremote from the machine, a first interface device configured to displayvideo data captured by at least one of the IP cameras, and the ROS ECM.The ROS ECM is disposed remotely from the machine and is incommunication with the first input device and the second input device.The ROS ECM may be configured to: receive input from the first inputdevice or the second input device and transmit the input controlsignals, based on the received input, to the AECM for control of theoperation of the machine. The MAS is configured to executesemi-autonomous functions of the machine concurrently with execution ofthe input control signals received from the ROS ECM.

These and other aspects and features of the present disclosure will bemore readily understood upon reading the following detailed descriptionwhen taken in conjunction with the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of an exemplary embodiment of a machinewith which the control system, including a Machine Automation System(MAS) and an off-board system, disclosed herein may be used;

FIG. 2 is a schematic of the MAS, in accordance with an embodiment ofthe present disclosure;

FIG. 3 is a schematic of a portion of an exemplary off-board system thatincludes a ROS, in accordance with an embodiment of the presentdisclosure;

FIG. 4 is a schematic of a first switch of the MAS of FIG. 2, includingassociated devices connected via the first switch, in accordance with anembodiment of the present disclosure.

FIG. 5 is another perspective view of the exemplary embodiment of themachine of FIG. 1 which schematically illustrates components of the MASin relation to the machine;

FIG. 6 is a block diagram illustrating components of an exemplaryelectronic control module; and

FIG. 7 is a perspective view of an embodiment of the ROS of FIG. 3.

DESCRIPTION

FIG. 1 illustrates one example of a machine 100 with which the controlsystem 102 (as seen in totality in the combination of FIGS. 2-3) of thepresent disclosure is utilized. The exemplary machine 100 may be, but isnot limited to, underground mining machines such as undergroundload-haul-dump (LHD) loaders and underground mining trucks, backhoeloaders, skid steer loaders, wheel loaders, material loaders, motorgraders, track-type tractors, landfill compactors, excavators, andarticulated trucks, to name a few, which are employed at a worksite.

The exemplary machine 100 may include a body frame 104. The exemplarymachine 100 may be supported on the ground by a plurality of wheels 106(or track assemblies or the like). One of ordinary skill in the art willappreciate that an engine 108 and may provide power to the wheels 106via a transmission 107 and a mechanical or electric drive drain. The endof the body frame 104 in which the engine 108 is disposed may bereferred to as the Engine End Frame (EEF) 109. The opposite end of thebody frame 104 may be referred to as the Non-Engine End Frame (NEEF)111. The machine 100 may include an implement 110. While the followingdetailed description and drawings are made with reference to exemplarymachine 100 that is an underground LHD loader 112 having an implement110 that is a bucket 114, which is mounted to the body frame 104 by apair of lift arms 116, the teachings of this disclosure may be employedon other machines 100.

The exemplary machine 100 may be operated in one or more of thefollowing modes: (1) manually by an operator disposed in a cab 118 onthe machine 100 (“manual mode”); (2) remotely by an operator usingvideo, audio or other positioning and machine-related information toguide and control the machine 100 (“teleremote mode”); (3) remotely byan operator using a mobile (e.g., handheld) remote control device withinline of sight (LOS) of the machine (“LOS mode”) for LOS control of themachine 100; (4) semi-autonomously by a remote operator using video,audio or other positioning information and machine information to guidethe machine 100 as well as utilizing autonomous control for selectedfunctions/operations of the machine 100 (“semi-autonomous mode” or“guidance mode”); or (5) autonomously by a computer or computer system(“autonomous mode”). With reference to “guidance mode,” the guidancemode may be an autonomous or semi-autonomous control mode in whichsteering, throttling, and/or braking of the machine 100 is performedbased on controller input from one or more sensors on-board the machine100, such as a LADAR sensor.

The control system 102 (FIGS. 2-3) disclosed herein includes a MachineAutomation System (MAS) 120 disposed on the machine 100 and an off-boardsystem 122. The MAS 120 (FIG. 2) includes a plurality of VehicleElectronic Control Modules (ECM)s 124, a local transceiver 126, anEthernet Local Area Network (LAN) 128, a first Controller Area Network(CAN) 130, a second CAN 132, an Autonomy Electronic Control Module(AECM) 134, an environment monitoring system 136, a Remote ShutdownModule (RSM) 138 and a service port 140. The MAS 120 may also include adata link (DL) 142. The MAS 120 may include one or more machine strobelight assemblies 144 disposed on the machine 100, an indicator light 284and an autonomous control switch 282. The MAS 120 may also include afirst display 146, a vehicle health and utilization system (VHUS) 148 apositioning system 150, a first inertial monitoring unit (IMU) 154, asecond IMU 156, a keypad 158 and one or more line of sight (LOS)transceivers 160. In some embodiments, the MAS 120 may also include aTire Monitoring System (TMS) transceiver 218.

The off-board system 122 (primarily, FIG. 3) may include a ROS 164, anArea Isolation System (AIS) Monitoring System 166, an off-boardtransceiver 168, an off-board Local Area Network (“Off-board LAN”) 170and one or more LOS operator consoles 184 (see FIG. 2).

Each Vehicle ECM 124 is disposed on the machine 100. The Vehicle ECMs124 include a machine ECM 172, a transmission ECM 174, an implement ECM176 and an engine ECM 178. The Vehicle ECMs 124 may include anaftertreatment ECM 180 and a Heating Ventilation and Air Conditioning(HVAC) ECM 182.

The machine ECM 172 includes a processor 188 a (FIG. 6), which may beimplemented by one or more microprocessors or other processorswell-known in the art. The processor 188 a includes a local memory 190 aand is in communication with a read-only memory 192 a and a randomaccess memory 194 a via a bus 196 a. The random access memory 194 a maybe implemented by Synchronous Dynamic Random Access Memory (SDRAM),Dynamic Random Access Memory (DRAM), RAMBUS Dynamic Random Access memory(RDRAM) and/or any other type of random access memory device. Theread-only memory 192 a may be implemented by a hard drive, flash memoryand/or any other desired type of memory device. The processor 188 a isconfigured to execute machine-readable instructions and to generate(output) control signals, based on received (input) control signals, tocontrol movement of the machine 100 and/or operation of the transmissionECM 174 (e.g., traction control, ride control, power management,braking, throttling), to control operation of the implement ECM 176, toactuate one or more horns, indicators (e.g., parking brake indicator) orthe like disposed on the machine 100, and to control illumination of theone or more machine strobe light assemblies 144 mounted on the machine100. Such machine-readable instructions may be read into or incorporatedinto a machine-readable medium such as, for example, the local memory190 a. In alternative embodiments, hard wired circuitry may be used inplace of, or in combination with, machine-readable instructions toimplement a control method for the machine 100.

The (input) control signals to the machine ECM 172 may be received fromthe LOS operator console 184 (via the (on-board) LOS transceiver 160 andthe second CAN 132), or the AECM 134 (FIG. 2). In addition, a safetycontrol signal may be received by the machine ECM 172 from the RSM 138,as explained later herein. The control signals received from the AECM134 may be based on control signals output by the ROS ECM 186 (FIG. 3),transmitted from the off-board-transceiver 168 to the local transceiver126 (FIG. 2), and then communicated to the AECM 134 via the local router162, first switch 206 and Ethernet LAN 128. In some examples, thecontrol signals received from the AECM 134 may be additionally oralternatively based on input received by the AECM 134 from theenvironment monitoring system 136, as discussed in more detail below.The machine ECM 172 is also configured to transmit data, includingcontrol feedback, to the AECM 134 via the Ethernet LAN 128, the firstCAN 130 or the second CAN 132.

The term “machine-readable medium” as used herein refers to anynon-transitory medium or combination of media that participates inproviding instructions to the processor 188 a described above, or otherprocessors 188 described hereinafter, for execution. Such amachine-readable medium may comprise all machine-readable media exceptfor a transitory, propagating signal. Common forms of machine-readablemedia include any medium from which a processor 188 (FIG. 6) can read.

The transmission ECM 174 (FIG. 2) includes a processor 188 b (FIG. 6),which may be implemented by one or more microprocessors or otherprocessors well-known in the art. The processor 188 b includes a localmemory 190 b and is in communication with a read-only memory 192 b and arandom access memory 194 b via a bus 196 b. The random access memory 194b may be implemented by Synchronous Dynamic Random Access Memory(SDRAM), Dynamic Random Access Memory (DRAM), RAMBUS Dynamic RandomAccess memory (RDRAM) and/or any other type of random access memorydevice. The read-only memory 192 b may be implemented by a hard drive,flash memory and/or any other desired type of memory device. Theprocessor 188 b is configured to execute machine-readable instructionsand to generate (output) control signals, based on received (input)control signals, to control operation of the transmission 107 (FIG. 1)(e.g. transmission speed, transmission mode (drive, reverse, parkingbrake, neutral)), and related operations. Such machine-readableinstructions may be read into or incorporated into a machine-readablemedium such as, for example, the local memory 190 b (FIG. 6). Inalternative embodiments, hard wired circuitry may be used in place of,or in combination with, machine-readable instructions to implement acontrol method for the machine 100 (FIG. 1).

The (input) control signals may be received by the transmission ECM 174from the LOS operator console 184 (via the (on-board) LOS transceiver160 and the second CAN 132), or the machine ECM 172 (FIG. 2). Inaddition, a safety control signal may be received by the transmissionECM 174 from the RSM 138, as explained later herein. The control signalsreceived from the machine ECM 172 may be based on control signals outputby the ROS ECM 186, transmitted from the off-board-transceiver 168 tothe local transceiver 126, and then communicated to the AECM 134 via thelocal router 162, first switch 206 and Ethernet LAN 128, and thencommunicated to the machine ECM 172. In some examples, the controlsignals received from the AECM 134 may be additionally or alternativelybased on input received by the AECM 134 from the environment monitoringsystem 136, as discussed in more detail below. In some embodiments,(output) control signals generated by the LOS operator console 184 maybe communicated to the transmission ECM 174 via the (on-board) LOStransceiver 160 and the machine ECM 172. Control signals output by themachine ECM 172 may be communicated from the machine ECM 172 to thetransmission ECM 174 via the Ethernet LAN 128, the first CAN 130, thesecond CAN 132 or the DL 142. The transmission ECM 174 is alsoconfigured to transmit data, including control feedback, to the machineECM 172.

The implement ECM 176 includes a processor 188 c (FIG. 6), which may beimplemented by one or more microprocessors or other processorswell-known in the art. The processor 188 c includes a local memory 190 cand is in communication with a read-only memory 192 c and a randomaccess memory 194 c via a bus 196 c. The random access memory 194 c maybe implemented by Synchronous Dynamic Random Access Memory (SDRAM),Dynamic Random Access Memory (DRAM), RAMBUS Dynamic Random Access memory(RDRAM) and/or any other type of random access memory device. Theread-only memory 192 c may be implemented by a hard drive, flash memoryand/or any other desired type of memory device. The processor 188 c isconfigured to execute machine-readable instructions and to generate(output) control signals, based on received (input) control signals, tocontrol movement of the implement 110 (FIG. 1), steering of the machine100 and other machine 100 functions (e.g., lifting, holding the bucket114 to retain a current position, floating the bucket 114 to hold thebucket 114 above a defined limit, lowering the lift arms 116 withrespect to the body frame 104, tilting the bucket 114, turning on/offfront and rear lights, steering the machine 100). Such machine-readableinstructions may be read into or incorporated into a machine-readablemedium such as, for example, the local memory 190 c (FIG. 6). Inalternative embodiments, hard wired circuitry may be used in place of,or in combination with, machine-readable instructions to implement acontrol method for the machine 100.

The (input) control signals may be received by the implement ECM 176from the LOS operator console 184 (via the (on-board) LOS transceiver160 and the second CAN 132), or from the machine ECM 172 (FIG. 2). Thecontrol signals received from the machine ECM 172 may be based oncontrol signals output by the ROS ECM 186, transmitted from theoff-board-transceiver 168 to the local transceiver 126, and thencommunicated to the AECM 134 via the local router 162, first switch 206and Ethernet LAN 128, and then communicated to the machine ECM 172. Insome examples, the control signals received from the AECM 134 may beadditionally or alternatively based on input received by the AECM 134from the environment monitoring system 136, as discussed in more detailbelow. In some embodiments, (output) control signals generated by theLOS operator console 184 may be communicated to the implement ECM 176via the (on-board) LOS transceiver 160 and the machine ECM 172. Controlsignals may be communicated from the machine ECM 172 to the implementECM 176 via the Ethernet LAN 128, the first CAN 130, the second CAN 132or the DL 142. The implement ECM 176 is also configured to transmitdata, including control feedback, to the machine ECM 172.

The engine ECM 178 includes a processor 188 d (FIG. 6), which may beimplemented by one or more microprocessors or other processorswell-known in the art. The processor 188 d includes a local memory 190 dand is in communication with a read-only memory 192 d and a randomaccess memory 194 d via a bus 196 d. The random access memory 194 d maybe implemented by Synchronous Dynamic Random Access Memory (SDRAM),Dynamic Random Access Memory (DRAM), RAMBUS Dynamic Random Access memory(RDRAM) and/or any other type of random access memory device. Theread-only memory 192 d may be implemented by a hard drive, flash memoryand/or any other desired type of memory device. The processor 188 d isconfigured to execute machine-readable instructions and to generate(output) control signals, based on received (input) control signals, tocontrol operation of the engine 108 (FIG. 1) (e.g. engine speed andacceleration). Such machine-readable instructions may be read into orincorporated into a machine-readable medium such as, for example, thelocal memory 190 d (FIG. 6). In alternative embodiments, hard wiredcircuitry may be used in place of, or in combination with,machine-readable instructions to implement a control method for themachine 100 (FIG. 1).

The (input) control signals may be received from the LOS operatorconsole 184 (via the (on-board) LOS transceiver 160 and the second CAN132), or from the machine ECM 172 (FIG. 2). The control signals receivedfrom the machine ECM 172 may be based on control signals output by theROS ECM 186, transmitted from the off-board-transceiver 168 to the localtransceiver 126, and then communicated to the AECM 134 via the localrouter 162, first switch 206 and Ethernet LAN 128, and then communicatedfrom the AECM 134 to the machine ECM 172. In some examples, the controlsignals received from the AECM 134 may be additionally or alternativelybased on input received by the AECM 134 from the environment monitoringsystem 136, as discussed in more detail below. In some embodiments,(output) control signals generated by the LOS operator console 184 maybe communicated to the engine ECM 178 via the (on-board) LOS transceiver160 and the machine ECM 172. In some embodiments (e.g., the embodimentof FIG. 3) control signals may be communicated from the machine ECM 172to the engine ECM 178 via the first CAN 130 or the DL 142. In otherembodiments, the MAS 120 may be so configured that control signals maybe communicated from the machine ECM 172 to the engine ECM 178 via thesecond CAN 132 or the Ethernet LAN 128. The engine ECM 178 is alsoconfigured to transmit data, including control feedback, to the machineECM 172.

The aftertreatment ECM 180 includes a processor 188 e (FIG. 6), whichmay be implemented by one or more microprocessors or other processorswell-known in the art. The processor 188 e includes a local memory 190 eand is in communication with a read-only memory 192 e and a randomaccess memory 194 e via a bus 196 e. The random access memory 194 e maybe implemented by Synchronous Dynamic Random Access Memory (SDRAM),Dynamic Random Access Memory (DRAM), RAMBUS Dynamic Random Access memory(RDRAM) and/or any other type of random access memory device. Theread-only memory 192 e may be implemented by a hard drive, flash memoryand/or any other desired type of memory device. The processor 188 e isconfigured to execute machine-readable instructions and to generate(output) control signals, based on received (input) control signals, tocontrol emissions for of the machine 100 (FIG. 1). Such machine-readableinstructions may be read into or incorporated into a machine-readablemedium such as, for example, the local memory 190 e (FIG. 6). Inalternative embodiments, hard wired circuitry may be used in place of,or in combination with, machine-readable instructions to implement acontrol method for the machine 100 (FIG. 1).

The (input) control signals may be received from the machine ECM 172(FIG. 2). In an embodiment (for example the embodiment of FIG. 3),control signals may be communicated from the machine ECM 172 to theaftertreatment ECM 180 via the first CAN 130 or the DL 142. In otherembodiments, the MAS 120 may be configured such that control signals maybe communicated from the machine ECM 172 to the aftertreatment ECM 180via the second CAN 132 or the Ethernet LAN 128. The aftertreatment ECM180 is also configured to transmit data, including control feedback, tothe machine ECM 172.

The HVAC ECM 182 includes a processor 188 f (FIG. 6), which may beimplemented by one or more microprocessors or other processorswell-known in the art. The processor 188 f includes a local memory 190 fand is in communication with a read-only memory 192 f and a randomaccess memory 194 f via a bus 196 f. The random access memory 194 f maybe implemented by Synchronous Dynamic Random Access Memory (SDRAM),Dynamic Random Access Memory (DRAM), RAMBUS Dynamic Random Access memory(RDRAM) and/or any other type of random access memory device 194 f. Theread-only memory 192 f may be implemented by a hard drive, flash memoryand/or any other desired type of memory device. The processor 188 f isconfigured to execute machine-readable instructions and to generate(output) control signals, based on received (input) control signals, tocontrol operation of the heating, ventilation or air conditioning forthe machine 100 (FIG. 1). Such machine-readable instructions may be readinto or incorporated into a machine-readable medium such as, forexample, the local memory 190 f (FIG. 6). In alternative embodiments,hard wired circuitry may be used in place of, or in combination with,machine-readable instructions to implement a control method for themachine 100 (FIG. 1).

The (input) control signals may be received from the LOS operatorconsole 184 (via the (on-board) LOS transceiver 160 and the second CAN132), or from the machine ECM 172 (FIG. 2). The control signals receivedfrom the machine ECM 172 may be based on control signals output by theROS ECM 186, transmitted from the off-board-transceiver 168 to the localtransceiver 126, and then communicated to the AECM 134 via the localrouter 162, first switch 206 and Ethernet LAN 128, and then communicatedfrom the AECM 134 to the machine ECM 172. In some examples, the controlsignals received from the AECM 134 may be additionally or alternativelybased on input received by the AECM 134 from the environment monitoringsystem 136, as discussed in more detail below. In some embodiments,(output) control signals generated by the LOS operator console 184 maybe communicated to the HVAC ECM 182 via the (on-board) LOS transceiver160 and the machine ECM 172. In some embodiments (for example, theembodiment of FIG. 3), control signals may be communicated from themachine ECM 172 to the HVAC ECM 182 via the first CAN 130. In otherembodiments, the MAS 120 may be so configured that control signals maybe communicated from the machine ECM 172 to the HVAC ECM 182 via theEthernet LAN 128, the second CAN 132 or the DL 142. The HVAC ECM 182 isalso configured to transmit data, including control feedback, to themachine ECM 172.

The local transceiver 126 may be disposed on the remotely operatedmachine 100. In one embodiment, the local transceiver 126 may be anEthernet-compatible, wireless radio. The local transceiver 126 mayinclude one or more antennas 141. The local transceiver 126 is inoperable communication with the off-board transceiver 168, a localrouter 162 (discussed herein below) and the RSM 138. In one embodiment,the local transceiver 126 is in wireless communication with theoff-board transceiver 168, and may be in communication with the localrouter 162 and the RSM 138 via the Ethernet LAN 128.

The local transceiver 126 is configured to receive (wirelessly) controlsignals, safety signals and data from the off-board transceiver 168(FIG. 3), and is configured to transmit data from the MAS 120 (FIG. 2)to the off-board transceiver 168 (FIG. 3). The received control signalsmay be generated by a ROS ECM 186 (based on operator input received fromthe second and third interface devices 228, 230 and the first and secondinput devices 246, 248) and may control the operation of the machine 100(FIG. 1) and its systems (e.g., the environment monitoring system 136(FIG. 2)). Some received control signals (for example, a safety signal)may be generated by a machine shutdown module 264 of the AIS MonitoringSystem 166 (FIG. 3).

The data transmitted by the local transceiver 126 (FIG. 2) to theoff-board transceiver 168 (FIG. 3) may include video data (captured byone or more IP cameras 198), audio data (captured by the microphone 200)related to the operation of the machine 100 (FIG. 1) and the work areaadjacent to the machine 100, positional and distance measurementinformation from the LADARs 202 (FIG. 2), machine 100 operational orhealth related data, and other information collected and transmitted tothe off-board system 122 for monitoring/logging by the ROS ECM 186 (FIG.3), or display/replaying (e.g., video data and audio data) on, forexample, the first, second or third interface devices 226, 228, 230. Thevideo data may include video of the work area in which the machine 100is positioned/operating.

The local transceiver 126 and the off-board transceiver 168 act as abridge between the MAS 120 and the off-board system 122. In oneembodiment, the local transceiver 126 (FIG. 2) is configured to supportmultiple Service Set Identifiers (SSID), thus allowing the localtransceiver 126 to function on multiple subnetworks within the MAS 120.In an embodiment, the local transceiver 126 may be configured to utilizeMulti-in Multi-out (MIMO) 802.11N technology, which provides improvedbandwidth and signal integrity when compared to a Single-In Single-Out802.11G radio operating in diversity mode. In such an embodiment, theantennas 141 may be, for example, dual band MIMO (2.4/5 GHZ) antennas.The local transceiver 126 is also configured to support Profinet. As isknown in the art, Profinet defines the communication with fieldconnected peripheral devices. Its basis is a cascading real-timeconcept. Profinet may be used to define the data exchange betweencontrollers and devices, as well as parameter setting and diagnosis.

The Ethernet LAN 128 (FIG. 2) is disposed on the machine 100 and isconfigured to enable operative communication between the AECM 134, themachine ECM 172, the transmission ECM 174, the implement ECM 176, theservice port 140, the first display 146, the RSM 138, the positioningsystem 150, the environment monitoring system 136 and the localtransceiver 126. The Ethernet LAN 128 may include a plurality ofcommunication channels 204, the local router 162, a first switch 206 anda second switch 208. In one embodiment, the Ethernet LAN 128 may operateat 100 base-T.

In some examples, such as the example depiction of FIG. 5, components ofthe Ethernet LAN 128 or any components connected by the Ethernet LAN 128(e.g., the first switch 206, the local router 162, and the second switch208) are disposed within or proximate to the cab 118 of the machine 100.For example, as depicted schematically in FIG. 5, the local router 162,the first switch 206, and the second switch 208 are located within thecab 118. In some such examples, elements of or associated with theEthernet LAN 128 may be contained within a cab headliner of the cab 118.By positioning elements of the Ethernet LAN 128 within the cab 118,operators and/or technicians of the machine 100 are allowed easieringress to the Ethernet LAN 128 for both repair and scalabilitypurposes. Further, by disposing the Ethernet LAN 128 within the cab 118,the Ethernet LAN 128 and associated elements may be protected from heatand/or dirt ingress and, thereby, may be protected from wear.

The local router 162 is disposed on the machine 100 and includes a localrouter processor 210. The local router 162 is in operable communicationvia communication channels 204 (of the Ethernet LAN 128) with the localtransceiver 126, the first switch 206, the RSM 138 and the second switch208. The local router 162 is also in operable communication with theAECM 134 and the environment monitoring system 136 via the first switch206 and the communication channels 204. The local router 162 is inoperable communication with the machine ECM 172, the service port 140,the first display 146 and the positioning system 150 via the secondswitch 208 and the communication channels 204.

The local router 162 is configured to manage data traffic on theEthernet LAN 128 and to convert serial data to Ethernet InternetProtocol (IP)/Transmission Control Protocol (TCP) packets and viceversa. Such conversion allows serial data from third party systems to beaccessed on the Ethernet LAN 128.

The local router 162 is configured to receive the control signals/safetysignals, generated by either the ROS ECM 186 (FIG. 3) or the AISMonitoring System 166, from the local transceiver 126 (FIG. 2) and totransmit such control/safety signals via the communication channels 204to the AECM 134. The local router 162 also receives input control orsafety signals from the RSM 138. The local router 162 receives data fromthe AECM 134 and from the environment monitoring system 136 (e.g., videodata, audio data, and positional and distance measurement information)via the first switch 206. The local router 162 receives data from one ormore Vehicle ECMs 124, the service port 140, the first display 146, theVHUS 148 and the positioning system 150 via the second switch 208.

The first switch 206 is disposed on the machine 100 and is in operablecommunication with at least the local router 162, the environmentmonitoring system 136 (IP cameras 198, microphone 200 and LADARs 202)and the AECM 134 via the communication channels 204 of the Ethernet LAN128. The first switch 206 is configured to transmit and receive controlsignals/safety signals from the local router 162, and data from, atleast, the environment monitoring system 136 and the AECM 134. The firstswitch 206 is configured to transmit data only to the one or moredevices for which the message was intended. The second switch 208 isdisposed on the machine 100 and is in operable communication with themachine ECM 172 via the communication channels 204 of the Ethernet LAN128.

As shown in greater detail in the illustration of FIG. 4, the firstswitch 206 is configured to include a plurality of Ethernet input ports201, wherein one or more of the Ethernet input ports 201 may have aspecific device of the MAS 120 assigned to it for data communication.Accordingly, the first switch 206 may have Dynamic Host ConfigurationProtocol (DHCP) address assignments which allow such devices, forexample the IP cameras 198, LADARs 202, the AECM 134, and/or the localrouter 162, to be fitted or replaced without manually configuring staticIP addresses. DHCP is a standardized network protocol used fordynamically distributing network configuration parameters, such as IPaddresses, reducing the need for a user to configure such parametersmanually.

The plurality of communication channels 204 are configured to transfercontrol signals/safety control signals or data between two points, forexample, between devices connected to the communication channels 204. Inaddition to that described above, at least one communication channel 204is disposed between the machine ECM 172 and the transmission ECM 174 andanother communication channel 204 is also disposed between thetransmission ECM 174 and the implement ECM 176. The first display 146may also be in communication with the VHUS 148 (including any associatedwireless interface for the VHUS 148) via one of the communicationchannels 204 of the Ethernet LAN 128.

The first CAN 130 is disposed on the machine 100 and enables operativecommunication between the AECM 134, the machine ECM 172, thetransmission ECM 174, the implement ECM 176, the service port 140, theengine ECM 178, the aftertreatment ECM 180, the first display 146, theHVAC ECM 182, the VHUS 148, and the TMS transceiver 218.

The second CAN 132 is disposed on the machine 100. The second CAN 132includes a plurality of segments 214. The first segment 214 a of theplurality enables operative communication between the AECM 134, themachine ECM 172, the LOS transceiver(s) 160, a first IMU 154 and asecond IMU 156. The second segment 214 b enables operative communicationbetween the engine ECM 178 and the aftertreatment ECM 180. The thirdsegment 214 c enables operative communication between the keypad 158,the transmission ECM 174, the implement ECM 176 and the first display146.

The DL 142 is disposed on the machine 100. The machine ECM 172, thetransmission ECM 174, the implement ECM 176, the service port 140, theengine ECM 178 and the aftertreatment ECM 180, the local router 162 andthe VHUS 148 are in operative communication via the DL 142.

The AECM 134 is disposed on the machine 100. The AECM 134 includes aprocessor 188 g which may be implemented by one or more microprocessorsor other processors well-known in the art. The processor 188 g includesa local memory 190 g and is in communication with a read-only memory 192g and a random access memory 194 g via a bus 196 g. The random accessmemory 194 g may be implemented by Synchronous Dynamic Random AccessMemory (SDRAM), Dynamic Random Access Memory (DRAM), RAMBUS DynamicRandom Access memory (RDRAM) and/or any other type of random accessmemory device. The read-only memory 192 g may be implemented by a harddrive, flash memory and/or any other desired type of memory device. Theprocessor 188 g is configured to execute machine-readable instructionsand to generate (output) control signals, based on received (input)control signals and/or signals received from the environment monitoringsystem 136, to control operation of the machine 100 and one or more ofthe Vehicle ECMs 124. Such machine-readable instructions may be readinto or incorporated into a machine-readable medium such as, forexample, the local memory 190 g. In alternative embodiments, hard wiredcircuitry may be used in place of, or in combination with,machine-readable instructions to implement a control method for themachine 100.

The AECM 134 is in operable communication with the environmentmonitoring system 136 and the local router 162 via the first switch 206and communication channels 204. Furthermore, as shown in FIG. 2, theAECM 134 is in operable communication with the RSM 138, the localtransceiver 126, one or more Vehicle ECMs 124, the service port 140, thefirst display 146, the positioning system 150 and the VHUS 148 via theEthernet LAN 128.

In addition, the AECM 134 is in operable communication with the VehicleECMs 124, the service port 140, the first display 146, VHUS 148 and theTMS transceiver 218 via the first CAN 130. The AECM 134 is also inoperable communication with the machine ECM 124, the first IMU 154, thesecond IMU 156, the LOS operator console 184 and associated LOStransceiver 160, via one or more segments 214 of the second CAN 132.

The AECM 134 is configured to receive the control signals and data viathe local router 162 and/or the first switch 206. Additionally, the AECM134 is configured to receive positioning data from the LADARs 202 of theenvironment monitoring system 136 via the first switch 206. The AECM 134may also receive control signals from the service port 140. The controlsignals may be generated by the ROS ECM 186 (FIG. 3), the AIS MonitoringSystem 166 or the keypad 158.

The AECM 134 is further configured to process the control signals anddata. The AECM 134 is configured to generate (output) control signalsbased on the processed control signals and data, and to transmit suchcontrol signals to the environment monitoring system 136, the firstdisplay 146 or one or more of the Vehicle ECMs 124, wherein the controlsignals control an operation of, or on, the machine 100. The controlsignals generated by the AECM 134 may be generated, at least in part,based on positioning information provided to the AECM 134 by one or moreLADARs 202 when the machine 100 is configured to operate in anautonomous, semi-autonomous, or guidance mode of operation. When suchcontrol signals are received by the Vehicle ECMs 124, such Vehicle ECMs124 then implement the instructions/commands of the control signal fromthe AECM 134.

By way of explanation, the Vehicle ECMs 124 implement control signalsfrom the AECM 134 that are based on operator input to the ROS 164 and/orpositioning information provided by the LADAR(s) 202, but they alsomonitor and regulate certain functions on the machine 100. Thus,advanced machine control features, such as traction control, ridecontrol, power control and the like, will still operate while themachine 100 (FIG. 1) is under teleremote, semi-autonomous, autonomous,and/or guidance control by the operator and receiving control signalsfrom the ROS ECM 186 (FIG. 3) that are based on operator input to theinput devices 246, 248. For example, the AECM 134 (FIG. 2) may transmita control signal that instructs the machine ECM 172 to apply braking.While the machine ECM 172, in response to the control signal, mayactuate the brakes, the machine ECM 172 may still continue to implementpower management (an advanced machine control feature). In anotherscenario, the AECM 134 may transmit a control signal that instructs themachine ECM 172 to steer the wheels 106 toward the right. The machineECM 172 may generate and transmit, in response to such control signal, acontrol signal to the implement ECM 176 to actuate steering of thewheels 106 (by the implement ECM 176) toward the right but stillcontinues to generate control signals that implement traction control(an advanced machine control feature) on the machine 100.

The AECM 134 may receive data from one or more Vehicle ECMs 124, thefirst display 146, the VHUS 148 and the positioning system 150 via thesecond switch 208 (the local router 162 and the first switch 206) of theEthernet LAN 128. The AECM 134 is also configured to receive datacaptured by various sensors 220 disposed on the machine 100 (e.g.,linear position sensors 220 a, the first and second IMUs 212, 216,engine and transmission speed sensors 220 b, 220 c, and the like). TheAECM 134 receives data (via the Ethernet LAN 128, the first CAN 130 orsecond CAN 132) from the linear position sensors 220 a and uses suchdata to determine the steering articulation angle and the implement liftand tilt angle. The AECM 134 receives data from the first IMU 212 (inone embodiment, via the second CAN 130) and the second IMU 216 (in oneembodiment, via the second CAN 132) and uses such data to determineacceleration and machine inclination angle. In an embodiment, the firstIMU 212 may be disposed on the engine end-frame 109 and the second IMU216 may be disposed on the non-engine end frame 111. The AECM 134receives data from the engine and transmission speed sensors 220 (b-c)to determine engine revolutions per minute (RPM) and machine groundspeed. The AECM 134 is configured to determine machine direction,implement position and machine mode. In teleremote, semi-autonomous,guidance, or autonomous modes, when the remote operator is controllingthe machine, the maximum available gear may be restricted. For example,the machine 100 may be limited to operation in first and second gear.The AECM 134 is also configured to control certain (machine 100)functions, such as ground condition monitoring, automaticsteering/turning (when activated by the operator) etc. The AECM 134 isalso configured to forward certain operator requests for advancedcontrol features from the ROS ECM 186 to the appropriate Vehicle ECMs124 (e.g., automatic dig position). When automatic dig position isrequested/enabled, the depth and loading of the bucket 114 (groundengaging work tool) in a material is automatically controlled by themachine 100 in response to a productivity value. The AECM 134 may alsobe configured to provide data to payload type systems that analyze loadtimes, number of passes and payload data to determine efficiencyoptimization. Similarly, the AECM 134 may be configured to support tiremonitoring, as well.

The AECM 134 is also configured to transmit data via the localtransceiver 126, including feedback information, to the ROS ECM 186. Inaddition, the AECM 134 is configured transfer control of the machine 100to the LOS operator console 184 for machine recovery purposes, when themachine ECM 172 detects that signals are being received from both theAECM 134 and the LOS operator console 184, as discussed later herein.

The environment monitoring system 136, generally, determines andtransmits data based on the environment in which the machine 100operates. More specifically, as shown, the environment monitoring system136 includes one or more internet protocol (IP) cameras 198. In anembodiment, the environment monitoring system 136 may further includethe microphone 200. In another embodiment, the environment monitoringsystem 136 may further include one or more LADARs 202. As shown in theexemplary embodiment of FIG. 3, each of the one or more IP cameras 198,the microphone 200, and the one or more LADARs 202 are connected to thefirst switch 206, which may then provide data collected from suchdevices to be transmitted to, for example, the AECM 134, the localrouter 162, the local transceiver 126 and the ROS ECM 186.

The one or more IP cameras 198 are mounted on the machine 100 and allowthe operator to monitor the machine 100 and its surrounding environment.The one or more IP cameras 198 are configured to provide one or moreviewing perspectives from the machine 100 (e.g., a front-facing viewingperspective, a rear-facing viewing perspective, etc.). Accordingly, eachof the one or more IP cameras 198 may be positioned, relative to themachine 100, to provide a specific viewing perspective. For example, afirst IP camera 198 a may be positioned to replicate the field of viewan operator would see looking forward while in a cab 118 of the machine100, as illustrated in FIG. 5. Further, for example, the plurality of IPcameras may include a second IP camera 198 b, which is positioned toreplicate the field of view an operator would see when looking rearwardwhile in the cab 118 of the machine 100. A third IP camera 198 c mayprovide a view forward on the left hand side of the front of the bodyframe 104 to assist with tramming around corners and loading anddumping. A forth IP camera 198 d may be positioned either on the righthand side of the front of body frame 104, the right hand side of therear of the body frame 104 or as a camera that engages when the machine100 is moving backwards (in reverse). However, the example positions ofIP cameras 198 a-d are only exemplary and any additional IP cameras 198may be included and/or the positioning of IP cameras 198 a-d may differfrom the examples discussed above.

As discussed above and illustrated in FIG. 4, one or more of the IPcameras 198 may have a corresponding Ethernet input port 201 on thefirst switch 206. The first camera 198 a may be connected to the firstswitch 206 via a first IP camera Ethernet input port 201 a, the first IPcamera Ethernet input port 201 a being specifically configured torecognize the first IP camera 198 a and may be associated with thepositioning, relative to the machine 100, of the first IP camera 198 a.Similarly, the second IP camera 198 b may be connected to the firstswitch 206 via a second IP camera Ethernet input port 201 b, the secondIP camera Ethernet input port 201 b being specifically configured torecognize the second IP camera 198 b and may be associated with thepositioning, relative to the machine 100, of the second IP camera 198 b.Further, the third IP camera 198 c may be connected to the first switch206 via a third IP camera Ethernet input port 201 c, the third IP cameraEthernet input port 201 c specifically configured to recognize the thirdIP camera 198 c and may be associated with the positioning, relative tothe machine 100, of the third IP camera 198 c. The fourth IP camera 198d may be connected to the first switch 206 via a fourth IP cameraEthernet input port 201 d, the fourth IP camera Ethernet input port 201d specifically configured to recognize the fourth IP camera 198 d andmay be associated with the positioning, relative to the machine 100, ofthe fourth IP camera 198 d and/or the configuration of the fourth IPcamera 198 d (e.g., engaging when the machine 100 moves in reverse).Each of the respective connections between the first, second, third andfourth IP cameras 198 a-d and the first, second, third, and fourth IPcamera Ethernet input ports 201 a-d may be configured via DHCP addressassignments which allows the IP cameras 198 to be fitted or replacedwithout manually configuring static IP addresses.

The IP cameras 198 are configured to generate video data associated withviewing perspectives of the machine 100. In an embodiment, the IPcameras 198 provide video data via high definition video streams thatare transmitted to the first interface device 226 (FIG. 3) of the ROS164. Each IP camera 198 (FIG. 2) is configured to transmit such videodata via a video stream to the local transceiver 126 via the EthernetLAN 128 (more specifically, the first switch 206, the local router 162and the associated communication channels 204). The AECM 134 candetermine, upon connection of an IP camera 198 to the first switch 206,the physical location in relation to the machine 100 that the IP camera198 occupies and the IP assignment of the IP camera 198. This isaccomplished via the DHCP IP address assignments provided by the firstswitch 206. This reduces the requirement for manual configuration ofeach IP camera 198 and the possibility of error in the determination ofpositional mounting.

The microphone 200 is configured to capture audio data associated withthe machine 100, and the work area adjacent to the machine 100. Suchaudio data may be captured by the microphone 200 and transmitted in avideo stream from one of the IP cameras 198 to the local transceiver 126via the first switch 206 and the local router 162, and then istransmitted by the local transceiver 126 to the ROS 164 (FIG. 3). Theterm video stream, as used herein, includes video data, and may alsoinclude audio data.

The one or more LADARs 202 (FIG. 2) are sensing devices used todetermine positioning data associated with the machine 100. LADAR 202 isa radar-like remote sensing technology that measures distance byilluminating a target with a laser and analyzing the reflected light.The one or more LADARs 202 are configured to generate positioning dataassociated with the machine 100, which is used in guiding/operating themachine 100 in, for example, an autonomous, semi-autonomous, and/orguidance mode. In some examples, the one or more LADARs 202 may generatepositioning data based on specific placements of the LADARs 202 on themachine 100 or perspectives of the machine 100. The determinedpositioning data is transmitted to the local transceiver 126 via thefirst switch 206 and the local router 162 and from thereto the ROS 164(FIG. 3).

The LADARs 202 may include, at least, a front LADAR 202 a and a rearLADAR 202 b. The front LADAR 202 a is affixed to the machine proximateto the “front” of the machine 100, for example, proximate to the NEEF111 and/or proximate to the cab 118 but also in the general direction ofthe NEEF 111, as depicted in FIG. 5. The front LADAR 202 a sensesenvironmental elements in relation to positioning of the machine 100from the front perspective of the machine 100. Further, the rear LADAR202 b is affixed to the machine proximate to the “rear” of the machine,for example, proximate to the EEF 109 and/or proximate to the cab 118but also in the general direction of the EEF 109. Accordingly, the rearLADAR 202 b senses environmental elements in relation to positioning ofthe machine 100 from the rear perspective of the machine 100.

Similar to the IP cameras 198, the first switch 206 will assign DHCPaddresses to the LADARs 202 based on their physical location on themachine 100, thereby reducing the need for manual configuration of inputports. Accordingly, the plurality of Ethernet input ports 201 of thefirst switch 206 include Ethernet input ports 201 specifically dedicatedto the input of the LADARs 202. For example, the front LADAR 202 a maybe connected to the first switch 206 via a front LADAR Ethernet inputport 201 e, the front LADAR Ethernet input port 201 e specificallyconfigured to recognize the front LADAR 202 a and associated withpositioning, relative to the machine 100, of the front LADAR 202 a.Similarly, the rear LADAR 202 b may be connected to the first switch 206via a rear LADAR Ethernet input port 201 f, the rear LADAR Ethernetinput port 201 f specifically configured to recognize the rear LADAR 202b and associated with positioning, relative to the machine 100, of therear LADAR 202 b. Each of the respective connections between the frontand rear LADARs 202 a-b and the front and rear LADAR Ethernet inputports 201 e-f may be configured via DHCP address assignments which allowthe LADARs 202 to be fitted or replaced without manually configuringstatic IP addresses.

The RSM 138 (FIG. 2) is disposed on the machine 100 and is in operativecommunication with the AIS Monitoring System 166 (FIG. 3). The RSM 138is configured to receive a safety control signal from the AIS MonitoringSystem 166 (FIG. 3) (more specifically, the machine shutdown module 264of the AIS Monitoring System 166) when the machine is being operated inteleremote mode, a guidance mode, a semi-autonomous mode or anautonomous mode. The RSM 138 (FIG. 2) then sends to the machine ECM 172and the transmission ECM 174 a control signal indicating that the safetycontrol signal is being received. The RSM 138 also receives digitalinputs from the machine ECM 172 and the transmission ECM 174 as afeedback to authenticate the reception of the control signal. If the RSM138 ceases to receive the safety control signal from the machineshutdown module 264 of the AIS Monitoring System 166 (FIG. 3), nofurther control signal is sent by the RSM 138 (FIG. 2) to the machineECM 172 and the transmission ECM 174; this results in the machine ECM172 and the transmission ECM 174 immediately shutting down the machine100.

The LOS transceiver 160 is disposed on the machine 100 and is inoperative communication with the second CAN 132 and the (off-board) LOSoperator console 184. In one embodiment, the LOS transceiver 160 is inwireless communication with the LOS operator console 184. The LOStransceiver 160 receives control signals from the LOS operator console184 that are based on operator input entered into the LOS operatorconsole 184. These received control signals are transmitted by the LOStransceiver 160 to one or more of the Vehicle ECMs 124 via the secondCAN 132 and control the operation of the machine 100.

Each keypad 158 may be disposed on the machine 100 and is configured toreceive/accept user input and to transmit control signals based on theuser input, via the second CAN 132 to the AECM 134 or the appropriateVehicle ECM 124. For example, a control signal may be sent from thekeypad 158 directly to the transmission ECM 174 to activate thetransmission 107 or to turn on/off a parking brake, or may be sent tothe implement ECM 176 to activate the lift arms/implement or to activatehigh/low beam lights on the machine 100. A control signal may be sent(based on user input to the keypad 158) to the transmission ECM 174 andthe machine ECM 172 that selects/deselects remote status for the machine100.

The autonomous control switch 282 may be disposed on the machine 100 andis configured to select/deselect autonomous status for the machine 100.

By way to explanation, if remote status and autonomous status are both“off” or not selected, the machine 100 is placed in manual mode and maybe operated manually by an operator in the cab 118. If remote status isselected but autonomous status is not selected, the machine 100 isplaced in LOS mode and will only operate under the control of the LOSoperator console 184. If remote status is not selected but autonomousstatus is selected, the machine 100 will not operate. If remote statusand autonomous status are both “on” or selected, the machine 100 willoperate in teleremote mode, semi-autonomous mode, autonomous mode or LOSmode.

An indicator light 284 may be disposed on or near the rear of the cab118. In one embodiment, the indicator light 284 may be a green light.

On or more machine strobe light assemblies 144 (FIGS. 1-2) may bepositioned on the outside of the machine 100 to indicate machine mode.In one embodiment, the machine strobe light assemblies 144 may indicate1.) manual mode, 2.) LOS mode or 3.)teleremote/semi-autonomous/autonomous mode. In one embodiment, a machinestrobe light assembly 144 may be disposed on the front of the machine100 (the front machine strobe light assembly 144 a) to provide 180°visibility when viewed from the front half of the machine 100. In suchan embodiment, the front machine strobe light assembly 144 a ispositioned to not be visible in any IP camera 198 views. A machinestrobe light assembly 144 may be disposed on the rear of the machine 100(the rear machine strobe light assembly 144 b). The rear machine strobeassembly 144 b may be disposed on the machine to provide 180° visibilitywhen viewed from the rear half of the machine 100 without being visiblein any IP camera 198 views. Each of the machine strobe light assemblies144 include a first light 286 and a second light 288, the second light288 emitting a different colored light than the first light 286. In theexemplary embodiment described below, the first light 286 is an amberlight and the second light 288 is a red light.

Each machine strobe light assembly 144 is configured to provide a visualindication of which mode (manual mode, LOS mode,teleremote/semi-autonomous/autonomous mode) the machine 100 is operatingin. This involves the use of the indicator light 284, and the firstlight 286 (amber light) and the second light 288 (red light) of themachine strobe light assemblies 144 in various combinations. When themachine 100 (FIG. 1) is being operated in manual mode (operator in thecab 118 on the machine 100 and the remote status and autonomous statusare both off), the indicator light 284 (green) and the first light 286(amber) and the second light (red) 288 of the machine strobe lightassemblies 144 are not illuminated.

When autonomous status is on/off and remote status for the machine 100is initially selected via the keypad 158, the indicator light 284(green) may flash (e.g., at 2 hertz) during the request for selection ofremote status, the first light 286 (amber) and the second light 288(red) (FIG. 1) are not illuminated. Once the remote status selectionrequest is granted, the indicator light 284 (green) may flash in apulsed fashion; the first light 286 (amber) and second light 288 (red)are not illuminated. Once the machine 100 (FIG. 1) is being run in LOSmode by an operator using the LOS operator console 184 (FIG. 3), theindicator light 284 (green) (FIG. 1) may be illuminated in a constantmanner and the first light 286 (amber) and the second light 288 (red)are not illuminated.

When remote status is selected via the keypad 158 and autonomous control(semi-autonomous control or entirely autonomous control) is initiallyrequested by an operator through selection of the autonomous state viathe autonomous control switch 282, the indicator light 284 (green)flashes (e.g., at 2 hertz) and the first light 286 (amber) and thesecond light 288 (red) in the machine strobe light assemblies 144 flashfor a period of time (for example 5 seconds). After the period of time,the second light 288 (red) will turn off, but the first light 286(amber) and the indicator light 284 (green) remain flashing. This isindicative of the AIS Monitoring System 166 (FIG. 3) not yettransmitting a safety control signal to the RSM 138 (FIG. 2) of the MAS120. (If the AIS Monitoring System 166 is not transmitting a safetycontrol signal, the first light 286 (amber) (FIG. 1) is flashing and thesecond light 288 (red) is not illuminated.) If the AIS Monitoring System166 is transmitting a safety signal, the second light 288 (red) flashesand the first light 286 (amber) is not illuminated. Thus, in thescenario above, when the RSM 138 (FIG. 2) receives the safety controlsignal, the RSM 138 will send a control signal to the machine ECM 172 sothat the second light 288 (red) (FIG. 1) will flash and the amber light145 b will not be on; the indicator light 284 (green) will remainflashing. If the ROS ECM 186 does not subsequently request control ofthe machine 100, then the indicator light 284 (green) continues to flash(at, for example, 2 hertz). If the ROS ECM 186 does subsequently requestcontrol of the machine 100 (for the teleremote, semi-autonomous orautonomous mode), the illumination of the indicator light 284 (green)will begin pulsing. Once the machine 100 is operating under the controlof the ROS ECM 186, the indicator light 284 (green) is illuminated in aconstant manner.

The first display 146 (FIG. 2) is disposed on the machine 100. Forexample, the first display 146 may be disposed in an operator cab 118(FIG. 1) of the machine 100. The first display 146 (FIG. 2) may receivefrom the AECM 134, and display, various machine fault codes, machinemodes, various functions and diagnostics. For example, the first display146 may display machine mode information and may accept operator inputfor transmission to the AECM 134 or the machine ECM 172. For example,the first display 146 may accept operator input that selects a strobepattern and then transmit that input to the machine ECM 172. The firstdisplay 146 may display information indicating whether the signals fromthe transmission ECM 174 and the machine ECM 172 to the RSM are active,whether the autonomous status is selected/deselected by the autonomouscontrol switch 282, whether the remote status is selected/deselected onthe keypad 158, whether remote status is pending or active, whether theROS ECM 186 or (a controller associated with) the LOS operator console184 has reservation of the machine or whether the machine is unreserved,the current state (on, off, flashing etc.) of the indicator light 284,or the first and second lights 286, 288, the current position indicatedby the steering and implement sensors 220 a diagnostics on certainrelays in the machine 100 and whether the power saving mode is on/off.The power saving mode turns off various components on the machine 100,including some of the Vehicle ECMs 124 and LADARs 202 to reduce batteryconsumption while still keeping the Ethernet LAN 128 and the RSM 138active. In some embodiments, power saving mode can be deactivated when amachine 100 is operated in teleremote, semi-autonomous or autonomousmode.

The VHUS 148 provides detection of an impeding or abnormal condition inany of the machine's 100 systems and an operator notification to eithermodify operation of the machine 100, schedule maintenance, or perform asafe shutdown of the machine 100. VHUS 148 also may provide productionand performance information and may record load time, travel loaded,dump time, and travel empty, along with delay times. Data from the VHUSmay be transmitted to the AECM 134 and to the ROS 164 (FIG. 3).

The positioning system 150 (FIG. 2) is disposed on the machine 100. Thepositioning system 150, in some embodiments, may include a seconddisplay 152, and may be in operative communication with the secondswitch 208 via the Ethernet LAN 128. The positioning system 150 isconfigured communicate fleet management information such as position andother machine 100 related information to off-board fleet managementsystems (and the like) that provide real-time machine 100positioning/tracking, assignment and productivity management for afleet. The second display 152 may be in operative communication withsuch off-board fleet management systems, and may be configured todisplay tracking, assignment and productivity and other machine 100related information.

The TMS transceiver 218 is configured to receive tire pressure andtemperature data associated with each wheel 106 and to transmit suchtire pressure and temperature data to the VHUS 148 and the first display146 via the first CAN 130. The TMS transceiver 218 is also configured totransmit such tire pressure and temperature data to the AECM 134 via thefirst CAN 130. Such data is then transmitted from the AECM 134 to theROS ECM 186 (FIG. 3) for display on a first and second interface 226,228.

The ROS 164 (FIG. 3) is configured to remotely operate one or moremachines 100 employed at a worksite. The ROS 164 is remotely locatedfrom the machines 100. In some embodiments, the ROS 164 may be disposedat a location underground (but outside of the work area of the machine100). In other embodiments, the ROS 164 may be located near or above thesurface of the mine. The ROS 164 enables the operator to control themachine 100 (FIG. 1) functions as if the operator was in the cab 118disposed on the controlled machine 100. For example, the operator canremotely control functions such as the speed and direction(forward/reverse), steering, implement controls, lights and horn.Additionally, the ROS 164 may be configured to direct the machine 100 tooperate in a guidance mode and/or control parameters of the guidancemode.

The ROS 164 includes a frame 222 (FIG. 5) and a seat 224 configured toreceive an operator. The ROS 164 further includes the ROS ECM 186 (FIG.3), a first interface device 226, a second interface device 228, and anAIS 232. In some embodiments, the ROS 164 may further include a thirdinterface device 230 and/or a fire suppression switch 254.

The first interface device 226 includes a first interface processor 234and a first interface memory 236 in communication with the firstinterface processor 234. In an embodiment, the first interface device226 may be a touch-based display interface configured to receivetouch-based input from an operator's bare or gloved finger and/or aconductive stylus. The first interface processor 234 may be implementedby one or more microprocessors or other processors well-known in theart. The first interface processor 234 may execute machine-readableinstructions to receive, and display on the first interface device 226,real-time situational awareness features of the machine 100 such as, butnot limited to, speed, fuel level, engine temperature, and gage levels,and live video received from the IP camera(s) 198. The machine-readableinstructions may be read into or incorporated into a computer-readablemedium, such as the first interface memory 236. In alternativeembodiments, hard wired circuitry may be used in place of, or incombination with, machine-readable instructions. The video is based onthe video data captured by the IP cameras 198 and transmitted to thefirst interface device 226 from the local transceiver 126. The firstinterface device 226 is configured to display the output of one of thecamera views in full resolution at any time. The resolution of the otherviews may be downscaled to reduce data on the Ethernet LAN 128 (FIG. 2)and Off-board LAN 170 (FIG. 3). The ROS ECM 186 will automaticallyselect for display the output of one of the forward or reverse IPcameras 198, depending on the direction the machine 100 is travellingin; the operator can manually choose a different IP camera 198 (FIG. 2)output for display, if desired.

The first interface device 226 (FIG. 3) is also configured to playreal-time audio captured by and received from the microphone 200 (FIG.2) of the environment monitoring system 136. The audio is based on theaudio data captured by the microphone 200 and transmitted to the firstinterface device 226 (FIG. 3) from the MAS 120 (FIG. 2).

The second interface device 228 (FIG. 3) includes a second interfaceprocessor 238 and a second interface memory 240 in communication withthe second interface processor 238. In an embodiment, the secondinterface device 228 may be a robust, scratch-proof touch-based displayinterface configured to receive touch-based input from an operator'sbare or gloved finger and/or a conductive stylus. The second interfaceprocessor 238 may be implemented by one or more microprocessors or otherprocessors well-known in the art. The second interface processor 238 mayexecute machine-readable instructions to receive touch-based input fromthe second interface device 228 for generating control signals toremotely control non-movement features and functions of a machine suchas, but not limited to, starting/stopping the engine, turning on/offlights, controlling microphone volume, controlling IP camera recording.The second interface processor 238 may execute machine-readableinstructions to display on the second interface device 228, or to log,machine information received from the MAS 120. Such machine-readableinstructions may be read into or incorporated into a machine-readablemedium, such as the second interface memory 240. In alternativeembodiments, hard wired circuitry may be used in place of, or incombination with, machine-readable instructions. The machine informationmay include machine diagnostics, machine health, operator notifications,measurements, information collected by the LADARs 202 (FIG. 2),information from sensors 220 (for example, ground and engine speedsensors 220 b), and other data related to the operation of the machine100. The second interface 228 (FIG. 3) displays machine healthnotifications if the Vehicle ECMs 124 (FIG. 2) flag an event or ifdetected by the VHUS 148. The second interface device 228 also displaysthe status of the AIS 232 (FIG. 3).

In some embodiments, the ROS 164 may be configured to control aplurality of machines 100, typically one machine 100 at a time. Aseparate external server 280 is not required to remotely operatemultiple machines 100.

The third interface device 230 includes a third interface processor 242and a third interface memory 244 in communication with the thirdinterface processor 242. In an embodiment, the third interface device230 may be a robust, scratch-proof touch-based display interfaceconfigured to receive touch-based input from an operator's bare orgloved finger and/or a conductive stylus. The third interface processor242 may be implemented by one or more microprocessors or otherprocessors well-known in the art. The third interface processor 242 mayexecute machine-readable instructions to receive, and display on thethird interface device 230, fleet management information such as, butnot limited to, map features illustrating machine positioning. The thirdinterface device 230 is also configured to receive touch-based input toedit at least some of the fleet management information. The thirdinterface processor 242 may execute machine-readable instructions forallowing the operator to the fleet management information. Suchmachine-readable instructions may be read into or incorporated into acomputer-readable medium, such as the third interface memory 244. Inalternative embodiments, hard wired circuitry may be used in place of,or in combination with, software instructions.

The first input device 246 may be a first joystick or the like, and isconfigured to transmit input signals to the ROS ECM 186 (FIG. 2) forprocessing and communicating to the machine 100, via the off-boardtransceiver 168 (FIG. 3), for specific operations related to animplement 110 (FIG. 1) of the machine 100 such as, but not limited to,the bucket 114. For example, movement of the first input device 246 maycontrol operation of the implement 110 such that forward movement lowersthe implement 110, backward movement raises the implement 110, leftwardmovement tilts the implement 110 back, and rightward movement controlsthe implement 110 to dump. Moreover, the first input device 246 includesa plurality of implement control buttons which, when engaged, controloperations related to the implement 110 including but not limited to:initiating a next machine operation, turning on/off the autonomous mode,initiating an autonomous loading operation, initiating a next goaloperation, initiating an autopilot activation operation, initiating anejector bucket operation, initiating a bucket counter incrementoperation, and initiating an operation to raise engine rotations perminute (rpm).

The second input device 248 (FIG. 3) may be a second joystick or thelike and is configured to transmit input signals to the ROS ECM 186 forprocessing and communicating to the machine 100, via an off-boardtransceiver 168, for specific operations related to controlling motionthereof. For example, movement of the second input device 248 controlsmovement and steering of the machine 100 such that forward movementpropels the machine 100 in a forward direction, backward movementpropels the machine 100 in a reverse direction, leftward movement turnsthe machine 100 left, and rightward movement turns the machine 100right. Moreover, the second input device 248 includes a plurality ofmachine control buttons which, when engaged, control operations relatedto movement of the machine 100, including but not limited to: initiatingan engine stop operation, initiating a straightening operation,switching IP camera 198 views, initiating momentary view switching onthe first interface device 226 between a forward-facing IP camera 198and a rear-facing IP camera 198, sounding a horn, and initiatingtransmission shifting. The first and second input devices 246, 248 maybe any input devices well-known in the industry such as, but not limitedto, joysticks, levers, and push-buttons.

The ROS ECM 186 may include a processor 188 h (FIG. 6), which may beimplemented by one or more microprocessors or other processorswell-known in the art. The processor 188 h includes a local memory 190 hand is in communication with a read-only memory 192 h and a randomaccess memory 194 h via a bus 196 h. The random access memory 194 h maybe implemented by Synchronous Dynamic Random Access Memory (SDRAM),Dynamic Random Access Memory (DRAM), RAMBUS Dynamic Random Access memory(RDRAM) and/or any other type of random access memory device. Theread-only memory 192 h may be implemented by a hard drive, flash memoryand/or any other desired type of memory device. The processor 188 h isconfigured to execute machine-readable instructions to receive inputsignals from the first and second input devices 246, 248 for generatingcontrol signals to remotely operate the machine 100 such as, but notlimited to, machine 100 (FIG. 1) movement, implement 110 movement andimplement-related functions. Such machine-readable instructions may beread into or incorporated into a computer-readable medium such as, forexample, the local memory 190 h (FIG. 4). In alternative embodiments,hard wired circuitry may be used in place of, or in combination with,machine-readable instructions to implement a method for the machine 100.

The ROS 164 may include a fire suppression switch 254. The firesuppression switch 254 is configured to provide the worksite with a safeguard against possible fires and is in operative communication with theROS ECM 186.

The AIS 232 (FIG. 3) includes an AIS shutdown switch 250, an AIS resetswitch 252, a first AIS shutdown programmable logic controller 256 and asecond AIS control programmable logic controller 258. The AIS shutdownswitch 250 is configured to provide a safety feature at the worksitewhere the machine 100 is employed and is in operative communication withthe AIS shutdown programmable logic controller 256. The AIS reset switch252 is configured to reset the safety feature at the worksite back tooperating conditions and is operatively associated with an AIS shutdownprogrammable logic controller 256.

The AIS shutdown switch 250 and the AIS reset switch 252, may both be incommunication with the off-board router 260 via the AIS shutdownprogrammable logic controller 256 and the AIS control programmable logiccontroller 258. In this manner, the off-board router 260 is also incommunication with the AIS Monitoring System 166 via the off-boardnetwork switch 262.

The AIS Monitoring System 166 ensures that the work area the machine 100is operating in remains isolated from personnel and equipment. A pair ofbarriers may be set up at each entrance to the work area of the machine100. One barrier may prevent personnel from entering the work area, thesecond may prevent the remotely operated, or an autonomously operated,machine 100 from escaping the work area. The AIS Monitoring System 166may be located off-board of the machine 100 and may include an at leastone machine shutdown module 264 in communication with an at least onebarrier control panel 266, both of which are in communication with theoff-board network switch 262. The at least one barrier control panel 266is further in communication with a machine barrier switch 268, and apersonal barrier switch 270 and barrier sensors disposed on or adjacentto barriers. The AIS Monitoring System 166 monitors signals from barriersensors disposed adjacent to each barrier, as well as the machinebarrier switches 268, and the personal barrier switches 270 at eachbarrier and at the ROS 164. Barrier sensors may include lights curtains,LADARs, proximity switches mounted to gates, and fixed tension switchesattached to lanyard cables.

When all signals are satisfactory (e.g., at the AIS shutdown switch 250,machine barrier switches 268, personal barrier switches 270, the barriersensors etc.), the machine shutdown module 264 transmits a safetycontrol signal to the machine 100, more specifically to the RSM 138 thatthen transmits a control signal to the machine ECM 172 and thetransmission ECM 174, that allows the machine 100 to operate. If abarrier sensor, machine barrier switch 268, personal barrier switch 270or AIS shutdown switch 250 has been triggered or the signal from such islost, the machine shutdown module 264 ceases to transmit the safetycontrol signal to the RSM 138 and the RSM 138 ceases to transmit thecontrol signal to the machine ECM 172 and the transmission ECM 174. Themachine ECM 172 and the transmission ECM 174 immediately shut down themachine 100 if the control signal from the RSM 138 is lost or ceases.

The LOS operator console 184 (FIG. 2) is disposed off-board the machine100 and is be configured to accept operator input, to generate controlsignals for the machine 100 based on the operator input and towirelessly transmit such control signals to the LOS transceiver 160.These control signals are transmitted by the LOS transceiver 160 to themachine ECM 172 via the second CAN 132 and control the operation of themachine 100.

If both signals from the LOS operator console 184 and the AECM 134 aresensed by the machine ECM 172, the machine ECM is configured to givepreference to (act upon) the signals from the LOS operator console 184.The AECM 134, in this situation, is configured to relinquish control ofthe machine 100 to the LOS operator console 184. This is to allow themachine 100 to be recovered from a situation/location (for example, adangerous location) via use of the LOS operator console 184, without anoperator having to approach the machine 100 to change the operation modeto the LOS mode. For example, in a scenario where the machine isoperating in autonomous mode (remote status is selected and autonomousstatus is selected) and an urgent need arises (for example, the machine100 moves onto unsupported ground) for the operator to take control ofthe machine 100, while in line of sight of the machine 100, the operatorcan take control of the machine via the LOS operator console 184 withouthaving to approach the machine to deselect the autonomous status on theautonomous control switch 282 on the machine.

The off-board transceiver 168 (FIG. 3) is disposed remotely from themachine 100. In one embodiment, the off-board transceiver 168 may be anEthernet-compatible, wireless radio. The off-board transceiver 168 mayinclude one or more antennas 141. The off-board transceiver 168 is inoperable communication with the ROS ECM 186, the first, second and thirdinterface devices 226, 228, 230, the first and second input devices 246,248, the AIS 232 and the AIS Monitoring System 166 via the off-board LAN170. The off-board transceiver 168 is in wireless communication with thelocal transceiver 126.

The off-board transceiver 168 is configured to receive control signalsfrom the ROS ECM 186 and to transmit such to the local transceiver 126.The received control signals may be generated by the ROS ECM 186 (basedon operator input received from the second and third interface devices226, 228, 230 and the first and second input devices 246, 248) tocontrol the operation of the machine 100 and related systems via theAECM 134 and the Vehicle ECMs 124. The received control signals may alsobe generated by the AIS Monitoring System 166. The off-board transceiver168 may receive from the local transceiver 126 data from the MAS 120(e.g., images or video of the work area in which the machine 100 ispositioned/operating captured by the IP cameras 198, audio captured bythe microphone 200, and positional and distance measurement informationfrom by the LADAR 202 related to the machine 100 and the work areaadjacent to the machine 100, machine operational or health related data,and other information).

The off-board LAN 170 (FIG. 3) includes a plurality of off-boardcommunication channels 272 that are either Ethernet or CAN, theoff-board router 260 and an off-board Ethernet switch 274, the off-boardtransceiver 168 and the off-board network switch 262. The off-boardrouter 260 includes a router processor and a router memory that are inoperable communication with the off-board Ethernet switch 274, theoff-board transceiver 168, the off-board network switch 262 via theoff-board communication channels 272. The off-board router 260 isconfigured to receive and transmit control signals and data betweenthese components. The off-board Ethernet switch 274 is also incommunication with the ROS ECM 186, the first, second and thirdinterface devices 226, 228, 230, and a service port 276 that is also incommunication with the ROS ECM 186. The ROS ECM 186 is also incommunication via the off-board LAN 170 with the first and second inputdevices 246, 248, the fire suppression switch 254, and a seat sensor 278for detecting an operator in the seat 224 of the ROS 164.

In an embodiment, the seat sensor 278 (FIG. 3) is disposed integrallywith the seat 224 (FIG. 7) of the ROS 164 (FIG. 3) and is configured todetect when an operator has moved out of the seat 224 such that, upondetection, the ROS ECM 186 is configured to automatically lock down thefirst and second input devices 246, 248; the RSM 138 may bring themachine 100 to a safe state (shut it down) as a result of the triggeringof the seat sensor 278. As non-limiting examples, the seat sensor 278can be a pressure sensor, an analog-voltage sensor, and any otherwell-known sensors in the art.

The off-board router 260 (FIG. 3) is in communication with the off-boardnetwork switch 262 via the off-board communication channels 272.Additionally or alternatively, the off-board router 260 may be infurther communication with an external server 280 separate from the ROS164. The external server 280 may be configured to store data andinformation such as, but not limited, operator login information, maps,configurations, and machine operation logs, and to allow the ROS ECM 186and machine 100 access to such stored information. The off-board networkswitch 262 is further in communication with an off-board transceiver 168configured to (wirelessly) transmit operating signals initiated from theROS ECM 186 to the machine 100, and to wirelessly receive real-timemachine characteristics from the machine 100 such as, but not limitedto, speed, engine temperature, and position information, fortransmission to the ROS 164.

INDUSTRIAL APPLICABILITY

In general, the present disclosure may find applicability in any numberof industrial applications such as, but not limited to, mining,earth-moving, construction, and agricultural industries. The MAS 120 isconfigured to implement operation of a machine 100 such as, but notlimited to, underground mining machines such as undergroundload-haul-dump loaders 112 and underground mining trucks, backhoeloaders, skid steer loaders, wheel loaders, material loaders, motorgraders, track-type tractors, landfill compactors, excavators, andarticulated trucks, to name a few, which are employed at a worksite. TheMAS 120 implements operation of the machine in teleremote mode, guidancemode, semi-autonomous mode and autonomous mode.

Disclosed herein is a method of controlling the operation of a machine100 that includes an implement 110 and a MAS 120 by utilizing controlsignals received by the MAS 120 from an off-board system 122 and/or bymodifying or generating control signals based on data gathered by theenvironment monitoring system 136 of the MAS 120. Such control signalsmay be generated by or modified by one or more of the AECM 134, the ROSECM 186, the AIS Monitoring System 166 or the LOS operator console 184of the off-board-system 122. In addition, the MAS 120 transmits datafrom the machine to the ROS 164 of the off-board system 122 formonitoring and/or processing.

The control method may comprise receiving, by the local transceiver 126or an LOS transceiver 160 of the MAS 120 disposed on the machine 100, aninput control signal from the off-board system 122. In an embodiment,the local transceiver 126 may be a wireless radio.

In embodiments in which the control signal is received by the localtransceiver 126, from the off-board transceiver 168 of the off-boardsystem 122, the method may further comprise transmitting by the localtransceiver 126, over an Ethernet LAN 128, the input control signal to alocal router 162 disposed on the machine 100. The method may furtherinclude generating, by the environment monitoring system, positioninginformation associated with the machine 100. The method may furthercomprise transmitting over the Ethernet LAN 128, by the local router162, to an AECM 134 the input control signal; transmitting, over theEthernet LAN 128 via the first switch 206, the positioning information;processing, by the AECM 134, the input control signal and thepositioning information; and transmitting an output control signal,based on the result of the processing, to a machine ECM 172 or otherVehicle ECM 124 to control operation of the machine 100.

Alternatively, when the control signal is received by the MAS 120 fromthe LOS operator console 184, the method may further comprisetransmitting the (received) control signal via the second CAN 132 to oneor more Vehicle ECMS 124 or the AECM 134 to control operation of themachine 100.

The teachings of this disclosure may be particularly beneficial to foroperators of LHD 112 and similar machines employed in underground mineswhere the environment may be challenging due to low tunnel clearancesand ground stability concerns surrounding the immediate area, and foroperators that desire to operate advance machine control featuresconcurrently with execution of the input control signals received fromoff-board the machine.

What is claimed is:
 1. A machine automation system (MAS) for a machinethat includes an implement, the MAS comprising: a plurality of vehicleelectronic control modules (ECMs) disposed on the machine; a localtransceiver disposed on the machine and configured to receive inputcontrol signals from off-board the machine, wherein the localtransceiver is a wireless radio; an Ethernet local area network (LAN)disposed on the machine and configured to operatively connect anautonomy ECM (AECM), one or more of the vehicle ECMs, an environmentmonitoring system, and the local transceiver, the Ethernet LANincluding: a plurality of communication channels configured to transferdata between two points; a local router disposed on the machine and inoperable communication with the local transceiver, a first switch, and asecond switch, the local router in operable communication with the AECMand the environment monitoring system via the first switch, the localrouter in operable communication with at least one Vehicle ECM via thesecond switch, the local router configured to receive and transmit theinput control signals from the local transceiver to the AECM; the firstswitch in operable communication with the AECM and the environmentmonitoring system; and the second switch in operable communication withat least one vehicle ECM; a controller area network (CAN) disposed onthe machine, the AECM and at least one of the vehicle ECMs in operativecommunication via the CAN; the environment monitoring system including,at least, a plurality of internet protocol (IP) cameras and a pluralityof LADARs disposed on the machine, the IP cameras configured to transmitvideo data to the local transceiver via the first switch, the LADARsconfigured to transmit positioning data associated with the machine tothe AECM via the first switch; the AECM disposed on the machine andconfigured to: receive one or both of the input control signals from thelocal router and the positioning data from the environment monitoringsystem, via the first switch; generate output control signals based onone or both of the input control signals and the positioning data; andtransmit the output control signals to at least one of the vehicle ECMs,wherein the output control signals control an operation of the machine;and the first switch including a plurality of Ethernet input ports, eachof the plurality of Ethernet input ports assigned to one of theplurality of IP cameras, one of the plurality of LADARs, the AECM, orthe local router.
 2. The MAS of claim 1, wherein each of the pluralityof Ethernet input ports is assigned to one of the plurality of IPcameras or one of the plurality of LADARs based on a Dynamic HostConfiguration Protocol (DHCP) address assignment.
 3. The MAS of claim 1,in which the plurality of LADARs includes a front LADAR proximate to afront portion of the machine and a rear LADAR proximate to a rearportion of the machine; and in which the plurality of Ethernet inputports includes a front LADAR input port configured to receivepositioning data associated with the front portion of the machine asinput from the front LADAR and the plurality of Ethernet input portsincludes a rear LADAR input port configured to receive positioning dataassociated with the rear portion of the machine as input from the rearLADAR.
 4. The MAS of claim 1, wherein each of the plurality of IPcameras are affixed to the machine at a plurality of IP cameralocations, and wherein each of the plurality of Ethernet input portsassigned to one of the plurality of IP cameras is associated with one ofthe plurality of IP camera locations.
 5. The MAS of claim 4, in whichthe plurality of IP cameras includes a first IP camera affixed to themachine at a first IP camera location, the first IP camera locationconfigured to replicate a field of view of an operator looking forwardfrom a cab of the machine, and in which the plurality of Ethernet inputports includes a first IP camera input port configured to receive videodata associated with the first IP camera location as input from thefront first IP camera.
 6. The MAS of claim 4, in which the plurality ofIP cameras includes a second IP camera affixed to the machine at asecond IP camera location, the second IP camera location configured toreplicate a field of view of an operator looking rearward from a cab ofthe machine, and wherein the plurality of Ethernet input ports includesa second IP camera input port configured to receive video dataassociated with the second IP camera location as input from the secondIP camera.
 7. The MAS of claim 4, in which the plurality of IP camerasincludes a third IP camera affixed to the machine at a third IP cameralocation, the third IP camera location configured to replicate a forwardfield of view on a front of a body frame of the machine, and in whichthe plurality of Ethernet input ports includes a third IP camera inputport configured to receive video data associated with the third IPcamera location as input from the third IP camera.
 8. The MAS of claim4, in which the plurality of IP cameras includes a fourth IP cameraaffixed to the machine at a fourth IP camera location, the fourth IPcamera location configured to engage when the machine moves in reverse,and in which the plurality of Ethernet input ports includes a fourth IPcamera input port configured to receive video data associated with thefourth IP camera location as input from the fourth IP camera.
 9. The MASof claim 1, in which the Vehicle ECMs include one or more of a machineECM, a transmission ECM, an implement ECM, an engine ECM, anaftertreatment ECM or an HVAC ECM, the machine ECM configured togenerate control signals that control movement of the machine, thetransmission ECM configured to control operation of a transmissiondisposed on the machine, the implement ECM configured to controlmovement of the implement, the engine ECM configured to controloperation of an engine disposed on the machine, the aftertreatment ECMconfigured to control machine emissions, the HVAC ECM configured tocontrol operation of the heating, ventilation or air conditioning of themachine.
 10. The MAS of claim 9, wherein the AECM, the machine ECM, thetransmission ECM and the implement ECM are in operative communicationvia the Ethernet LAN.
 11. A machine comprising: a body frame; an enginedisposed on the body frame; an implement; a cab; and a machineautomation system (MAS), including: a plurality of vehicle electroniccontrol modules (ECMs) disposed on the machine; a local transceiverdisposed on the machine and configured to receive input control signalsfrom off-board the machine, wherein the local transceiver is a wirelessradio; an Ethernet local area network (LAN) disposed on the machine andconfigured to operatively connect an autonomy ECM (AECM), one or more ofthe vehicle ECMs, an environment monitoring system, and the localtransceiver, the Ethernet LAN including: a plurality of communicationchannels configured to transfer data between two points; a local routerdisposed on the machine and in operable communication with the localtransceiver, a first switch, and a second switch, the local router inoperable communication with the AECM and the environment monitoringsystem via the first switch, the local router in operable communicationwith at least one Vehicle ECM via the second switch, the local routerconfigured to receive and transmit the input control signals from thelocal transceiver to the AECM; the first switch in operablecommunication with the AECM and the environment monitoring system, thefirst switch including a plurality of Ethernet input ports, each of theplurality of Ethernet input ports assigned to one of a plurality ofinternet protocol (IP) cameras, one of a plurality of LADARs, the AECM,or the local router; and a second switch in operable communication withat least one vehicle ECM; a controller area network (CAN) disposed onthe machine, the AECM and at least one of the vehicle ECMs in operativecommunication via the CAN; the environment monitoring system including,at least, the plurality of IP cameras and the plurality of LADARsdisposed on the machine, the IP cameras configured to transmit videodata to the local transceiver via the first switch, the LADARsconfigured to transmit positioning data associated with the machine tothe AECM via the first switch; and the AECM disposed on the machine andconfigured to: receive one or both of the input control signals from thelocal router and the positioning data from the environment monitoringsystem, via the first switch; generate output control signals based onone or both of the input control signals and the positioning data; andtransmit the output control signals to at least one of the vehicle ECMs,wherein the output control signals control an operation of the machine.12. The machine of claim 11, wherein one or more components of theEthernet LAN are, at least in part, housed within the cab.
 13. Themachine of claim 12, wherein the local router, the first switch, and thesecond switch are housed within the cab.
 14. The machine of claim 11,wherein the body frame includes an engine end frame and at least oneLADAR or IP camera is positioned proximate to the engine end frame. 15.The machine of claim 11, wherein the body frame includes a non-engineend frame and at least one LADAR or IP camera is positioned proximate tothe non-engine end frame.
 16. The machine of claim 11, in which theVehicle ECMs include one or more of a machine ECM, an implement ECM, oran engine ECM, the machine ECM configured to generate control signalsthat control movement of the machine, the implement ECM configured tocontrol movement of the implement, the engine ECM configured to controloperation of the engine.
 17. A control system for a machine thatincludes an implement, the control system comprising: a machineautomation system (MAS) including: a plurality of vehicle electroniccontrol modules (ECMs) disposed on the machine; a local transceiverdisposed on the machine and configured to receive input control signalsfrom off-board the machine, wherein the local transceiver is a wirelessradio; an Ethernet local area network (LAN) disposed on the machine andconfigured to operatively connect an autonomy ECM (AECM), one or more ofthe vehicle ECMs, an environment monitoring system, and the localtransceiver, the Ethernet LAN including: a plurality of communicationchannels configured to transfer data between two points; a local routerdisposed on the machine and in operable communication with the localtransceiver, a first switch, and a second switch, the local router inoperable communication with the AECM and the environment monitoringsystem via the first switch, the local router in operable communicationwith at least one Vehicle ECM via the second switch, the local routerconfigured to receive and transmit the input control signals from thelocal transceiver to the AECM; the first switch in operablecommunication with the AECM and the environment monitoring system; and asecond switch in operable communication with at least one vehicle ECM; acontroller area network (CAN) disposed on the machine, the AECM and atleast one of the vehicle ECMs in operative communication via the CAN;the environment monitoring system including, at least, a plurality ofinternet protocol (IP) cameras and a plurality of LADARs disposed on themachine, the IP cameras configured to transmit video data to the localtransceiver via the first switch, the LADARs configured to transmitpositioning data associated with the machine to the AECM via the firstswitch; the AECM disposed on the machine and configured to: receive oneor both of the input control signals from the local router and thepositioning data from the environment monitoring system, via the firstswitch; generate output control signals based on one or both of theinput control signals and the positioning data; and transmit the outputcontrol signals to at least one of the vehicle ECMs, wherein the outputcontrol signals control an operation of the machine; the first switchincluding a plurality of Ethernet input ports, each of the plurality ofEthernet input ports assigned to one of the plurality of IP cameras, oneof the plurality of LADARs, the AECM, or the router; and an off-boardsystem including: a first and a second input device located remote fromthe machine; a first interface device configured to display video datacaptured by at least one of the IP cameras; and a remote operatorstation (ROS) ECM disposed remotely from the machine and incommunication with the first input device and the second input device,the ROS ECM configured to: receive input from the first input device orthe second input device; and transmit the input control signals, basedon the received input, to the AECM for control of the operation of themachine, wherein the MAS is configured to execute semi-autonomousfunctions of the machine concurrently with execution of the inputcontrol signals received from the ROS ECM.
 18. The control system ofclaim 17, wherein each of the IP cameras are configured to transmitvideo data in a video stream to the local transceiver via the firstswitch and the router.
 19. The control system of claim 17, wherein eachof the plurality of Ethernet input ports is assigned to one of theplurality of IP cameras or one of the plurality of LADARs based on aDynamic Host Configuration Protocol (DHCP) address assignment.
 20. Thecontrol system of claim 17, in which the Vehicle ECMs include one ormore of a machine ECM, a transmission ECM, an implement ECM, an engineECM, an aftertreatment ECM and an HVAC ECM, the machine ECM configuredto generate control signals that control movement of the machine, thetransmission ECM configured to control operation of a transmissiondisposed on the machine, the implement ECM configured to controlmovement of the implement, the engine ECM configured to controloperation of an engine disposed on the machine, the aftertreatment ECMconfigured to control machine emissions, the HVAC ECM configured tocontrol operation of the heating, ventilation or air conditioning of themachine.